Mid-air ultrasonic haptic interface for immersive computing environments

ABSTRACT

The present disclosure concerns an ultrasound system for providing tactile mid-air haptic feedback. As described herein, various embodiments of the invention can create a precise mid-air tactile sensation in mid-air on a body part of a user through use of an array of ultrasonic emitters. The array produces steerable focal points of ultrasonic energy that provide sufficient radiation pressure to be felt by the skin of the user. Such an implementation allows for multiple points of contact with immersive computing environments in a variety of form factors. This implementation, too, allows for coverage of larger distances and provides for a wider range of interactions thereby allowing a user to extend an appendage into a broader workspace while providing for multiple points of or comprehensive sensation or interaction without sacrificing user comfort with respect to any such interaction.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. application Ser. No.15/662,159, filed 27 Jul. 2017, which is incorporated in its entirety bythis reference.

BACKGROUND OF THE INVENTION Field of the Invention

The present invention generally relates to interfacing with immersivecomputing environments. More specifically, the present inventionconcerns the use of ultrasonic energy to provide mid-air tactilesensations with the hands (or other body parts) as a user interacts withobjects in an immersive computing environment.

Description of the Related Art

Haptic interactions involve systems and apparatus that impartkinesthetic or tactile sensations to a user in the course of userengagement with an object. These sensations may be created through theuse of vibrations or force-feedback generated by mechanical sensors in acontrol device. Vibrations are typically characterized by oscillation ofa fluid or an elastic solid whose equilibrium has been disturbed.Force-feedback implies physical resistance akin to attempting to ‘turninto’ a wall (i.e., the wall would preclude the turn).

One of the earliest haptic devices was a telephone handset paired with asimilarly designed handset to form a closed loop feedback system. Thesystem would present variations in pressure to a user at one handset asconveyed by the user of the other handset. Compression at one end of thephone line would cause an increase in pressure and/or expansion at theother end.

Mobile phones and handheld computing devices have continued that trendby integrating haptic feedback in the form of ‘ring’ indicators likethose found in early paging devices as well as user touch or deviceinteraction response. In the latter example—sometimes referred to assurface haptics—the mobile device will produce a variety of forces onthe finger of a user as the user engages the surfaces of thetouchscreen. These forces simulate a typing experience or indicateselection or actuation of a device feature or function.

Haptic interactions have also been a common feature for arcade gamingconsoles. For example, arcade-based motorbike and driving games usehaptic feedback in handlebars or steering wheels. The handlebars orsteering wheel vibrate in the event of a collision or traversal of roughterrain. The handlebars also provide force-feedback in the event of acontrolled game object encountering a larger or perhaps immovableobject.

Home entertainment systems, too, have imparted tactile experiences inthe form of joysticks and controllers. Nintendo and Sony ComputerEntertainment respectively introduced the Nintendo 64 RumblePak and SonyPlayStation DualShock controller. The RumblePak was a removable,battery-operated device with a single motor plugged into a Nintendocontroller; the DualShock involved two vibration motors housed withinthe handles of the game controller and drew power directly from theattached gaming console. Both devices would provide vibrationsresponsive to in-game interactions such as explosions, collisions, orother high-intensity events.

All of the foregoing instances of haptic interactions require a physicalengagement with the vibration- or feedback-driven object. Physicalengagement is not as practical with the increasing prevalence of immersecomputing technologies. Immersive computing is generally representativeof technologies that blur—or completely erase—the line between thephysical world and the digital or simulated world thereby creating animmersive experience.

Immersive computing includes virtual reality (VR) technologies, whichmay use computer simulated imagery and environments to replace thereal-world. VR technologies are typically effectuated through a userworn headset. Immersive computing also includes augmented reality (AR)technologies that involve a live or indirect view of the real-worldsupplemented by extra-sensory input. AR technologies are typicallyimplemented in the context of glasses or other ‘wearable’ devices, butcan also involve non-wearable technologies such as the use ofprojections and holograms, which constitute a type of immersivecomputing experience in its own right. Other exemplary forms ofimmersive computing include mixed reality (MR), extended-reality (XR),augmented virtuality (AV), three-dimensional displays, full domes,three-dimensional audio, omnidirectional treadmills, and machineolfaction. Immersive computing can be represented by any one or more ofthe foregoing technologies alone or in combination as well as inproactive and reactive engagements.

In many of the foregoing examples, the user is unlikely to engage withthe likes of a surface or controller. Requiring physical engagementwould negatively impact the usability and reality of the immersivecomputing environment. Efforts to effectuate a haptic experience thatdoes not require the presence of a glove, vest, or hand-held controlobject have resulted in only a modicum of success.

Mid-air haptic experiences such as those offered by four-dimensional(4-D) cinema have largely been limited to the use of compressed air jetsin conjunction with other physical experiences (e.g., vibrations, smokemachines, wind, and fog). Installation of the hardware apparatusrequired for such an experience is expensive and requires custom-builtvenues such as theme and amusement parks. In those instances whereinstallation is economically possible, compressed air jets lack verticalresolution, precision control, and can create only very diffuseexperiences such as blasts of air. These instances have been dismissedas gimmicky physical distractions that completely remove the user froman immersive experience rather than creating the same.

There is a need in the art for a mid-air haptic interface that imparts adegree of realism equal to that implemented by an immersive computingexperience without the need for complex physical installations or othercustom-designed venues. An interface is needed that allows for coverageof larger distances and provides for a wider range of interactionsthereby allowing a user to extend an appendage into a broader workspacewhile providing for multiple points of or comprehensive sensation orinteraction without sacrificing user comfort with respect to any suchinteraction.

SUMMARY OF THE PRESENTLY CLAIMED INVENTION

A first claimed embodiment of the present invention recites anultrasonic system for haptic engagement in an immersive computingworkspace. The system includes a processing system, a tracking device, aflat-panel two-dimensional ultrasound transducer array, and a driver.The processing system computes the interaction of a user with one ormore virtual objects in the three-dimensional space corresponding to theimmersive computing workspace while the tracking device, which iscommunicatively coupled to the processing system, tracks an appendage ofthe user interacting with the object in the three-dimensional immersivecomputing workspace. The tracking information is provided to theprocessing system. The flat-panel two-dimensional ultrasound transducerarray includes a plurality of ultrasonic emitters that can producemultiple localized focal points of ultrasonic energy capable ofindividual perception by the user. The driver is communicatively coupledto the processing system and the ultrasound transducer array. The drivercauses the plurality of ultrasonic emitters to create a mid-air tactilesensation at the appendage of the user through excitement of the one ormore ultrasonic emitters in response to feedback from the processingsystem that is responsive to the tracking information from the trackingdevice.

A second claimed embodiment of the present invention also recites anultrasonic system for haptic engagement in an immersive computingworkspace.

The system of the second claimed embodiment-like the first claimedembodiment-includes a processing system, tracking device, and driver.The system of the second claimed embodiment, however, includes acurved-panel ultrasound transducer array with a plurality of ultrasonicemitters that can produce multiple localized focal points of ultrasonicenergy capable of individual perception by the user; the ultrasonicenergy is generated through beamforming and constructive interference.The processing system of the second embodiment computes the interactionof the user with one or more virtual objects in the three-dimensionalspace corresponding to the immersive computing workspace. The trackingdevice, which is communicatively coupled to the processing system tracksan appendage of a user interacting with the object in thethree-dimensional immersive computing workspace; the tracking deviceprovides the tracking information to the processing system. Theaforementioned driver is communicatively coupled to the processingsystem and the ultrasound transducer array. The driver causes theplurality of ultrasonic emitters to create a mid-air tactile sensationat the appendage of the user through excitement of the one or moreultrasonic emitters in response to feedback from the processing systemthat is responsive to the tracking information from the tracking device.

In the independently claimed embodiment of the present invention, anultrasonic system for haptic engagement in an immersive computingworkspace is also claimed. This claimed embodiment, too, recites aprocessing system, tracking device, and driver with functionalitysimilar to those of the first and second claimed embodiment. Theultrasound array of the third claimed embodiment, however, is aflexible-array including a plurality of ultrasonic emitters that canproduce multiple localized focal points of ultrasonic energy capable ofindividual perception by the user; the ultrasonic energy is generatedthrough beamforming and constructive interference.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1A illustrates a two-dimensional flat panel ultrasound systemproviding for tactile mid-air haptic feedback.

FIG. 1B illustrates a user interacting with a virtual object generatedby an immersive computing system operating in conjunction with anultrasound system like that in FIG. 1A.

FIG. 2A illustrates a curved ultrasound system providing for tactilemid-air haptic feedback.

FIG. 2B illustrates an alternative embodiment of FIG. 2A where theprocessing system and driver are flat but the ultrasound system retainsa curved form factor.

FIG. 3A illustrates a multi-array ultrasound system for providingtactile mid-air haptic feedback where the system is part of aworkstation-based installation.

FIG. 3B illustrates a multi-array ultrasound system for providingtactile mid-air haptic feedback where the system is part of aceiling-based installation.

FIG. 3C illustrates a multi-array ultrasound system for providingtactile mid-air haptic feedback where the system is part of a wall-basedinstallation.

FIG. 4A illustrates a polyhedral ultrasound system for providing tactilemid-air haptic feedback where the system is a cube.

FIG. 4B illustrates a polyhedral ultrasound system for providing tactilemid-air haptic feedback where the system is a truncated pyramid.

FIG. 5A illustrates an ultrasound system for providing tactile mid-airhaptic feedback that is at least partially spherical.

FIG. 5B illustrates the exemplary ultrasound system of FIG. 5A in usewhereby it provides for a larger realm of interaction withoutsacrificing comfort or engagement of the user.

FIG. 5C illustrates an ultrasound system for providing tactile mid-airhaptic feedback that is at least that is at least partially conical.

FIG. 6A illustrates a movable ultrasound apparatus for providing tactilemid-air haptic feedback including a flat panel ultrasound system coupledto a gimbal array.

FIG. 6B illustrates a movable ultrasound apparatus for providing tactilemid-air haptic feedback, which may include moveable sub-arrays as wellas individually moveable transducers coupled to a gimbal system andotherwise making up a flat panel ultrasound array.

FIG. 7 illustrates a form factor whereby a flat panel ultrasound systemfor providing tactile mid-air haptic feedback is integrated into achair.

FIG. 8 illustrates a form factor whereby a flat panel ultrasound systemfor providing tactile mid-air haptic feedback is integrated into atable.

FIG. 9 illustrates a flexible ultrasound system for providing tactilemid-air haptic feedback.

DETAILED DESCRIPTION

Disclosed herein is an ultrasound system for providing tactile mid-airhaptic feedback. Embodiments of the present invention create a precisemid-air tactile sensation at and on one or both hands (or some otherbody part) of a user through use of one or more phased arrays ofultrasonic emitters.

Sound is a pressure wave that results from the vibration of theparticles of the medium through which the sound wave is moving. Anultrasound transducer is a device that converts an electrical signalinto an ultrasonic pressure wave through oscillation. The beam patternof a transducer can be affected by the active transducer area, theultrasound wavelength, and the sound velocity of the propagation medium.Ultrasonic transducers can likewise receive and aid in the processing ofan ultrasonic signal or an interaction related thereto.

Through the use of software, it is possible to focus the output of anarray of ultrasonic emitters having a precise frequency and modulationin a phased delay. The array can produce focal points of ultrasonicenergy by way of constructive interference. These focal points providesufficient radiation pressure to be felt by the skin of a user. Asoftware driven ultrasonic system may thus produce steerable focalpoints of ultrasonic energy that can be controlled by varying the phaseof the ultrasonics emitted by the system.

The ultrasound system disclosed as part of the present invention maytake on any number of form factors. For example, the ultrasound systemmay be implemented as a flat panel. The ultrasound system may likewisebe implemented as part of a curved panel. Various underlying componentsof the system such as drivers and processing devices may have a varietyof form factors as well depending on a particular implementation and usecase. For example, as illustrated in various portions of FIGS. 1 and 2,certain system elements may be curved, certain elements may betwo-dimensional, or certain embodiments may have a combination of curvedand two-dimensional componentry.

Various multiple-array and three-dimensional configurations may allowfor simultaneous haptic interaction at a number of angles. Amultiple-array system using either a flat or curved panel display may beused in a table-based, ceiling-based, or wall-based installation.Polyhedral configurations such as a cube, a pyramid, or truncatedpyramid may implement the flat or curved-panel design. Spherical,cylindrical, and conical designs (or at least partially spherical orconical designs) are also within the scope of the present inventionthrough their implementation of the aforementioned curved panel arrays.The foregoing ultrasound systems may likewise be integrated into variousobjects such as furniture: a chair or table, for example. Flexibleembodiments of an ultrasonic system are also disclosed. Such anembodiment may allow for increased portability of the ultrasound systemand the immersive computing engagements provided by the same.

A particular form factor is intended to be used in the context of aparticular user case, many of which are illustrated and described here.The various embodiments described herein are meant to allow forengagement with larger distances and performance of a greater range ofuser interactions. For example, a user may extend their arms and reachinto a particular workspace versus simply ‘pawing’ at the extremes ofthe same.

Various form factors, too, may allow for a user experiencing feelings orsensations in a series of areas or focal points on a given appendage.For example, a user may encounter a sensation on both sides of a hand(palm and dorsal), on the palm of one hand and the dorsal side ofanother, or the dorsal side of both hands. ‘Speaker bars’ may allow forultrasonic engagement and the waist level while standing or chest levelwhile sitting. ‘Halo’ designs, too, could allow a user to experienceultrasonic sensations all around their body or relative specificportions of their body as part of an omnidirectional experience.

The various form factors described herein are also meant to provide formore comfortable interactions. The presently disclosed invention isenvisioned to be incorporated into any number of work-related andentertainment-related implementations. Such implementations might find auser engaged at a desk or work station for long hours. By providing acombination of multi-array configurations and/or three-dimensionalultrasound configurations, a user may experience more comfortableinteractions with an immersive environment. For example, a user mayallow their arms to rest on a desktop while utilizing their hands toengage with an ultrasonic system and workspace.

As suggested above, the disclosed ultrasound system may be utilized incombination with various immersive computing technologies andcorresponding system and apparatus. For example, in a VR immersiveexperience, the user may utilize a head mounted display to generate avirtual environment in conjunction with the presently disclosedultrasound system to provide haptic interactions with objects displayedin that environment. In an AR immersive experience, the user may utilizea set of transparent glasses to supplement a real-world environmentwhile concurrently using the presently disclosed ultrasound system toprovide haptic interactions.

The presently disclosed ultrasound system may also be used withprojected or artificial images that do not require an AR or VR device tocreate an immersive experience. For example, embodiments of the presentultrasound system may be used in conjunction with a projection devicedisplaying a two-dimensional image.

Embodiments of the present ultrasound system may similarly be used withholographic projections of environments and objects. A three-dimensionalprojection may also be used in conjunction with embodiments of thepresent invention although some 3D projections may require the use of 3Dglasses or some other worn visual device.

FIG. 1A illustrates a two-dimensional flat panel ultrasound system 100providing for tactile mid-air haptic feedback. The system 100 asillustrated in FIG. 1A includes a two-dimensional ultrasound transducerarray 110, a driver system 120, a processing system 130, and a trackingsystem 140. FIG. 1A further illustrates the hand 150 of a userinteracting with the system 100.

The transducer array 110 of FIG. 1A is arranged as a flat panel ofultrasonic transducers 160 _(a) . . . 160 _(n). Transducers 160 _(n) inarray 110 may be an open structure ultrasonic sensor. An ultrasonicsensor of this type may include a composite oscillating body thatcombines the oscillator and piezoelectric ceramics with a resonator. Theresonator may have a funnel shaped in order to efficiently radiateultrasonic energy into a medium of interest (e.g., the air) whileeffectively concentrating waves from the air on center of theoscillator. A transducer as may be used in various embodiments of thepresent invention will have a given diameter, nominal operatingfrequency, sensitivity, sound pressure, and directivity. Subject to therequirements or limitations of any particular ultrasound systemimplementation, one of ordinary skill in the art may modify theconfiguration or substitute any particular ultrasound transducer whilestill remaining within the scope and spirit of the presently disclosedinvention.

While the tracking system 140 of FIG. 1A is described as having beenimplemented in the context of a stereoscopic infrared camera, othertechnologies may utilized such as ultrasonic and radar. The stereoscopiccamera distills a video signal into a coherent data set that can beprocessed into actionable symbolic abstractions by the driver system120, processing system 130, and any additional computing hardware orsystems communicatively coupled thereto. In an exemplary mode ofoperation, an infrared (IR) structured light source at the trackingsystem 140 emits a constant pattern onto a scene such as workspace 180as discussed in the context of FIG. 1B. This pattern may be acquired bya CMOS two-dimensional camera correlated against a reference pattern atthe tracking system 140.

The reference pattern is generated by capturing a plane at a knowndistance from each camera. When a speckle is projected on an objectwhose distance to the camera differs from that of the reference plane,the position of the speckle in the infrared image is shifted andmeasured by an image correlation process to generate a disparity map.The disparity map can then be used to calculate distance in real-spaceby way of triangulation.

The tracking system 140 senses the user hand 150 (or any other trackedbody part) utilizing the tracking techniques identified above. Forexample, a user positions their hand 150 relative the tracker 140 forthe purpose of interacting with an object in an immersive computingenvironment. The immersive environment might be generated by a computingdevice and related hardware and software operating in conjunction withultrasound system 100 including but not limited to processing system130. For example, the computing device and related hardware and softwareoperating in conjunction with ultrasound system 100 may be a VR systemwith a head mounted display or an AR system that projects a hologram ofan object or objects into a real-world physical space. The trackingsystem 140 sends the real-time spatial data concerning the movement andposition of the user hand 150 (e.g., the three-dimensional coordinatesof the fingertips and palm or any other tracked body part) to theprocessing system 130. This three-dimensional positional information isprocessed by the processing system 130 to determine whether the user inproximity to an object in a VR or AR space like that shown in theworkspace 180 of FIG. 1B.

Processing system 130 is one or a set of processors or processing units(and supporting componentry) including but not limited to centralprocessing units, graphics processing units, digital signal processingunits, and field-programmable gate arrays. For example, in the case of agraphics processing unit (GPU), processing system 130 is inclusive ofrelated electronic circuitry systems that allow for accelerated parallelprocessing for improved performance. The processing system may computethe virtual content in the immersive computing workspace, process thethree-dimensional positional information from the tracking system todetermine whether the user is in proximity to a virtual object, andtranslate information into coordinates that are transformed into phasemaps and intensity values for the transducers.

Reference to a processing system 130 is similarly inclusive of auniverse of processing technologies including dedicated graphics cardsthat interface with a motherboard, integrated graphics processors (IGPs)and unified memory architectures. Reference to a graphics processingunit is also meant to be inclusive of that segment of graphicsprocessing technologies that include hybrid graphics processing as wellas general purpose graphics processing units (GPGPUs) running computekernels and external GPUs (eGPUs) that are located outside the housingof a computing device.

The driver system 120 controls the individual transducers 160 of array110 thereby creating a tactile sensation on the hand 150 of the user.Responsive to information received from processing system 130, driver120 broadcasts a control signal to one or more of the transducers 160 inthe array 11. Driver 120 may operate in conjunction with one or moreslave circuits (not shown) that receive the broadcast signal from driver120 to control a series of the aforementioned transducers. Driver 120(and slaves) may include one or more field programmable gate arrays,amplifiers, and high pass filters as known in the ultrasonic art.

Driver 120 may utilize one or more algorithms stored in memory andexecutable by one or more processors to create steered beams at thearray 110 to produce focal points of ultrasonic energy that providesufficient radiation pressure to be felt by the skin of the user. Thefocal points of ultrasound energy are created through constructiveinterference amplified and steered through software driven transducercontrol by driver 120.

Driver 120 may model one or more points in three-dimensional spaceresponsive to tracking information corresponding to a user hand 150 andreceived from tracking system 140 and subsequently processed byprocessing system 130. This modeling may first occur on a volumetricbasis for an overall acoustic field (e.g., workspace 180) as might becreated by transducer array 11. Modelled points may then be defined inthat three-dimensional workspace 180 whereby those points aredistributed amongst the array of transducers as a function of position,phase, and amplitude. Different points may be generated using differentphase maps and corresponding intensities based on the nature of thehaptic interaction with a given object and the positioning of the handof a user relative that particular object in space and time. An exampleof such a modeling technique is disclosed in Gavrilov's “The Possibilityof Generating Focal Regions of Complex Configurations in Application tothe Problems of Stimulation of Human Receptor Structures by FocusedUltrasound,” Acoust. Phys. (2008) Vol. 54, Issue 2 at 269 et seq.

As a result of this modeling, tactile sensations on the skin of userhand 150 can be created by using a phased array of ultrasoundtransducers 160 to exert acoustic radiation responsive to controlinstructions from driver 120. Ultrasound waves are transmitted by thetransducers 160 of array 110 with the phase emitted by each transducer160 adjusted such that the waves concurrently arrive at the target point(i.e., the user hand 150) in order to maximize the acoustical radiationforce exerted. Whereas many existing ultrasonic devices do not allow fordistinctive multiple localized feedback points in mid-air, the presentinvention allows for high resolution haptic feedback through the use ofa library of haptic features such that a user can distinguish betweenmultiple localized feedback points separated by a small distance. Such asystem also allows information to be transmitted via an additionalhaptic channel in parallel with or as an alternative to a visualdisplay. This is in addition to the aforementioned benefits of increasedinteraction range, multiple sensation points or areas on userappendages, and increased comfort of the user.

FIG. 1B illustrates a user interacting with a virtual object generatedby an immersive computing system operating in conjunction with anultrasound system 100 like that in FIG. 1A. The user of FIG. 1Binteracts with a virtual object 170 in an immersive computing workspace180 subject to tracking by tracking system 140. As shown in FIG. 1B, theimmersive computing environment is created through holographicprojection. The specific dimensions of the workspace 180 may varydependent upon a particular implementation of the ultrasound system 100(specifically the ultrasonic power of array 110) and the immersivecomputing environment, including the size of virtual object 170.

In FIG. 1B, the hands 150 of user are tracked by tracking system 140relative the virtual reality object 170 generated by a computing deviceworking in conjunction with or otherwise including processing system130. As the hands 150 of user approach the virtual object 170—anapproach observed by tracker 140 and communicated to processing system130—the driver 120 can receive processed positional information fromprocessing system 130 to cause the transducer array 110 to effectuate aparticular tactile sensation at hands 150 based on their currentposition in three-dimensional space and relative the virtual object 170.For example, virtual object 170 may be a basketball having a particularcircumference requiring the ultimate sensation of coming into contactwith the ball surface.

Transducers 160 of array 110 may be controlled by driver 120 responsiveto processing system 130 to create the sensation of coming into contactwith that object in real-world space.

FIG. 2A illustrates a curved ultrasound system 200 providing for tactilemid-air haptic feedback. The ultrasound system 200 of FIG. 2A operatesin a manner similar to the ultrasound system 100 of FIG. 1 but for thefact that the transducer array 210 has a convex curvature. Driver system220 operates in a manner similar to that of driver system 120 in FIG. 1Abut—at least as illustrated in FIG. 2A—is similarly curved in nature. Apreferred embodiment of ultrasound system 200 presents with the dualconvex configuration of array 210 and driver 220. An alternativeembodiment is nevertheless possible with a curved transducer array 210and a flat driver system like that shown in FIG. 1A (120) and asillustrated in FIG. 2B below.

In FIG. 2A, the design and implementation of processing system 230 andtracking system 240 are not changed versus corresponding elements 130and 140 of FIG. 1A. Nor do transducers 260 _(a) . . . 260 _(n) changewith respect to their underlying design and functionality as describedin the context of FIG. 1A. Only the presentation of transducers 260changes in light of the form factor of the convex array 210. Due to thecurvature of the array 210, the positioning of the individualtransducers 260 will be angled (curved) thereby resulting in a ‘fanshape’ and corresponding increase in the volume of the acoustic fieldversus that which may be produced by the typical two-dimensional flatpanel array 110 of FIG. 1A. The foregoing notwithstanding, the work flowof the various elements of the ultrasound system 200 in FIG. 2A isotherwise identical to that of system 100 concerning tracking, drivercontrol, and ultimate creation of a tactile sensation.

FIG. 2B illustrates an alternative embodiment of FIG. 2A where theprocessing system and driver are flat but the ultrasound system retainsa curved form factor. The functionality of the elements of thealternative embodiment illustrated in FIG. 2B are the same as describedin the context of FIG. 2A. The embodiment of FIG. 2B is meant toillustrate that different forms of componentry may be utilized in thecourse of implementing the presently claimed invention while retainingthe underlying functionality of the same.

FIG. 3A illustrates a multi-array ultrasound system 300 for providingtactile mid-air haptic feedback where the system is part of aworkstation-based installation. The ultrasound system 300 of FIG. 3Autilizes a two-dimensional flat-panel ultrasound system design like thatdescribed in the context of FIG. 1A (i.e., ultrasound system to). Theultrasound system 100 is integrated into mountable ultrasound units 305and 310. Mountable units 305 and 310 are then structurally coupled tothe workstation 315 by way of adjustable stands 320 and 325.

The multiple arrays illustrated in the context of FIG. 3A (and othermulti-array systems as discussed herein) may be synchronized utilizing amaster processing system (not shown) and driver (illustrated earlierherein) for one of a series of ultrasound arrays with all other arraysoperating in a slave relationship to the same (i.e., with a driver butno master processing system). In some embodiments, the master processingsystem and any requisite master-slave software componentry may beintegrated into the processing system, the driver system, or acombination of the two. A specialized synchronization component need notbe present and may be integrated into other elements of the system.

The master processing system (or processing system tasked as the master)may determine phase maps and intensity values for one or a series ofarrays. The master processing system may then communicate with the slaveunits (or non-master processing systems) and maintain synchronicity withthe same. The communicative coupling between the arrays may be wired orwireless. In the latter instance, the systems may use any number ofcommunications protocols including but not limited to 802.xx,ultrasound, or Bluetooth,

Stands 320 and 325 may be similar to speaker stands manufactured for theplacement of satellite speakers in home sound systems. Stands 320 and325 may be height adjustable with a heavy-gauge offset steel pillarhaving an integrated channel for the purpose of housing, protecting, andguiding various wire channels related to mountable units 305 and 310(e.g., power couplings). Mountable ultrasound units 305 and 310 may beaffixed to stands 320 and 325 through a top plate, L-shape, orkeyhole-type bracket depending on the weight and other specifications ofunits 305 and 310. Stands 320 and 325 may be free-standing with respectto the workstation 315 or may be temporarily or permanently affixed tothe same. Workstation 315 may be a working surface such as a desk ortable. Workstation 315 is inclusive of any area (e.g., a workspace)where a user is engaged with some sort of output warranting tactilemid-air haptic feedback.

Ultrasound system 300 allows tactile sensation to be provided to bothhands 330 and 335 of a user. Such a system may be paired with animmersive computing system offering, for example, VR, AR, or instancesof holographic interaction (not shown). Such immersive computing systemsmay project an image or images in an open area of workstation 315similar to the workspace 180 of FIG. 1B. In conjunction with aprocessing system and tracking system (as described elsewhere in thisspecification), input data related to the three-dimensional position ofthe hands of the user (330 and 335) are provided to a driver system,which controls the two-dimensional flat panel ultrasound componentry ofmounted ultrasound units 305 and 310. Appropriate tactile sensations maybe provided as dictated by any corresponding immersive computinggenerated visuals and user interaction with the same. While notillustrated in FIG. 3A, a further embodiment may include the likes ofultrasonic ‘speaker’ bar as described earlier in this disclosure. Such aspeaker bar may be tasked with unique or specific ultrasonic relatedassignments much in the way a sub-woofer might operate in an audiosystem.

FIG. 3B illustrates a multi-array ultrasound system 340 for providingtactile mid-air haptic feedback where the system is part of aceiling-based installation 345. Like the ultrasound system 300 of FIG.3A, system 340 includes flat-panel ultrasound systems integrated intomountable ultrasound units 305 and 310. Ultrasound units 305 and 310 ofsystem 340 utilize a structural coupling mechanism, which may be similarto stands 320 and 325 of FIG. 3A.

Unlike FIG. 3A, the ultrasound units 305 and 310 shown in FIG. 3B cannotbe free-standing due to the fact that said units are mounted to theceiling 345. The ultrasound units 305 and 310 of FIG. 3B may be movableor adjustable, however, as can be effectuated through the use of acontinuous track devices 350 that contain any necessary electricalconductors and that otherwise receive stands 320 and 325. Tracks 350 canbe mounted to the ceiling 345 (or walls) lengthwise down beams orcrosswise across rafters or joists allowing for X- and Y-axisadjustments. Ultrasound units 305 and 310 may alternatively oradditionally be coupled to the ceiling 345 or track devices 350 withadjustable mounts allowing for height adjustment (Z-axis adjustments).

The workstation 315 of FIG. 3A is replaced by the broader workspace 180concept of FIG. 1B. This configuration allows tactile sensation to beprovided to both hands 330/335 of the user in a room scale settingwithout the need of ultrasound devices being placed on a table or otherfixture. As shown in the exploded views of FIG. 3B that highlightworkspace 180, the user can interact with a larger distance and morereadily extend their arms and hands in a natural manner. This isaccomplished without necessarily sacrificing user comfort. Further—andas is also shown in said exploded view—the user may encounter multiplesensations or interactions over a given appendage, parts of appendage,opposite sides or locales of an appendage, various appendages, or acombination of the foregoing. As a result, the user has a morecomprehensive engagement with the workspace.

Ultrasound system 340 may be paired with an immersive computing systemthat projects or displays an image or images in the open workspace 180.In conjunction with a processing system and tracking system, appropriatetactile sensations may be provided as dictated by any immersivecomputing environment visuals and user interaction with the same by wayof driver componentry interacting with the aforementioned processingsystem and ultrasound array of system 340.

FIG. 3C illustrates a multi-array ultrasound system 355 for providingtactile mid-air haptic feedback where the system is part of a wall-basedinstallation 360. FIG. 3C illustrates an alternative implementation of aflat panel ultrasound system where ultrasound units are embedded in awall or other surface area as shown by installations 360 and 365. Unitsmay also be attached or otherwise installed subject to the physicaldesign characteristics or limitations of any particular surface area.The design and operation of the ultrasound system 355 is otherwise likethat of FIGS. 3A and 3B whereby tactile sensations may be provided asdictated by any corresponding immersive computing system visuals andcorresponding user interaction within workspace 180.

FIG. 4A illustrates a polyhedral ultrasound system 400 for providingtactile mid-air haptic feedback where the system is a cube. The formfactor illustrated in FIG. 4A includes a flat panel ultrasound systemlike the two-dimensional ultrasound system 100 of FIG. 1A. By utilizinga polyhedral design, specifically a cube, a user may feel tactilesensation and interact with the system 400 from multiple angles. Such asystem may similarly allow for omnidirectional tracking and interactiondepending on the exact placement and integration of transducers and therange of a corresponding tracking system or systems.

In the embodiment of FIG. 4A, multiple tracking systems are integratedin the system 400 such that the users hands of the user may be trackedon five sides 410 _(A) . . . 410 _(E) (i.e., front, back, left, right,and top). Operational hardware for the tracking systems—in a preferredembodiment—is located within the polyhedral design of the cube (i.e.,inside ‘the box’) to allow for wired buses and optimal bandwidthconnections. Actual imaging devices may extend outward from thecube-design (i.e., break the plane of any side of the cube) or be placedamongst a variety of transducers such that the sides of the cubemaintain an overall flat appearance. Other system hardware may likewisebe included within the cube form-factor, including but not limited todrivers and processing system.

In an alternative embodiment, however, certain hardware may be locatedoutside and physically distinct from the actual cube. That hardware maycommunicate with the system by way of a wired connection through the‘bottom’ of the cube. Communications may also be facilitated through oneor more wireless modes of communication such as Bluetooth or IEEE 802.x.Whether certain hardware is located internal to or outside the cube formmay be a factor of the actual physical size constraints of the cube andbandwidth requirements for various graphic processing and ultrasounddriving componentry.

Regardless of the actual locale of certain hardware, the system 400 asillustrated in FIG. 4A provides tactile sensation in combination with avariety of visuals as may be provided by an immersive computing system.That system may similarly be internal to or external to the cube formfactor either in whole or in part. While described with respect to fivesides, embodiments may utilize less than all five exposed surfaces. Forexample only the left and right sides or front and back sides may beused. Alternatively, an embodiment may make use of only the sides andtop, front and back and top, or any combination of the foregoing. Suchcombinations allow for more natural ‘hands facing in’ interactions whensystem 400 is placed on a surface whereby the hands of a user areproximate the left and right side of the cube with the hands facing thecube.

The system 400 of FIG. 4A may also include a modular feature whereultrasound array panels may be removed and repositioned on the formfactor of FIG. 4A or those similar in concept. For example, a front sideultrasound array may be removed and moved to a backside of the cubewhile a non-ultrasound panel that previously occupied the backside ismoved to the front. Such a feature would allow for production andcommercialization of a ‘base’ model with potential upgrades ofadditional panels, arrays, driver, and the like depending on demands orimprovements in immersive computing and/or graphics processingtechnologies.

FIG. 4B illustrates a polyhedral ultrasound system 420 for providingtactile mid-air haptic feedback where the system is a truncated pyramid.Like the cube embodiment of FIG. 4A, the embodiment shown in FIG. 4Bincludes five flat panel systems (like system 100 of FIG. 1A) butarranged in a truncated pyramidal configuration instead of that of acube. Such a form factor allows the user to experience tactilesensations and interact with system 420 from multiple angles whilesimultaneously maintaining a low profile for ease of use. Whileillustrated here as a truncated pyramid, other designs may be usedincluding an actual pyramid.

The embodiment of system 420 as shown in FIG. 4B, includes multipleintegrated tracking systems. Integration of such trackers into thesystem 420 may be similar to those discussed in the context of the cubeconfiguration of FIG. 4A, including but not limited to positioning ofrelated hardware. Integration of tracking devices in such a mannerallows hands of the user to be tracked on five sides 430 _(A) . . . 430_(E) (i.e., front, back, left, right, and top). The system 420 may thenprovide tactile sensation in combination with a variety of visuals asmay be provided by an immersive computing system, which may be proximateor remote to the system 420 in a manner like that addressed with respectto FIG. 4A. Also similar to FIG. 4A us the fact that embodiments mayutilize less than all five exposed surfaces, for example only the sides,only the front and back, sides and top, front and back and top, or anycombination of the foregoing. Modular configurations are also envisionedin the context of the form factor of FIG. 4B.

FIG. 5A illustrates an ultrasound system 500 for providing tactilemid-air haptic feedback that is at least partially spherical such as asemi-sphere. An ultrasound system 500 like that of FIG. 5A utilizes acurved ultrasound array like the system 200 of FIG. 2A. The spherical or‘dome’ design of FIG. 5A allows the user to feel tactile sensation andinteract with the system 500 from multiple angles with more fluidinteractive ability than that offered by a polyhedral design such asthose illustrated in FIGS. 4A and 4B.

The ultrasound system 500 as illustrated in FIG. 5A utilizes two handtracking devices 510 and 520. While two such devices are illustrated, itis possible for such an embodiment to configured with but one or aseries of such hand tracking devices. While FIG. 5A illustrates trackingdevices 510 and 520 as being integrated into the ultrasound system 500,an alternative embodiment may involve the placement of the trackingdevices proximate the system. For example, tracking devices 510 and 520may be located on a table or workstation that hosts the ultrasoundsystem 500. Tracking devices 510 and 520 could alternatively be locatedin a wall installation proximate the system 500 or located above thesystem 500 in a ceiling installation. As noted previously, additionaltracking devices may also be implemented beyond the two illustrated inFIG. 5A. Other system hardware may be located internal or external thesystem 500 as was discussed in the context of the embodiments of FIGS.4A and 4B.

FIG. 5B illustrates the exemplary ultrasound system of FIG. 5A in usewhereby it provides for a larger realm of interaction withoutsacrificing comfort or engagement of the user. As can be seen in FIG.5B, the user is able to engage with larger distance and have a broaderrange of interactions with the workspace generated by the ultrasonicsystem, which otherwise has the same functionality as described in thecontext of FIG. 5A. The user is similarly able to encounter ultrasonicengagement at multiple points on a pair of appendages (i.e., the handsof the user). Such interactions are intuitively natural and comfortableas well as a result of the user resting their hands on a workstationthat otherwise hosts the ultrasonic system. While a spherical embodimentlike that of FIG. 5A is illustrated, the benefits of such a system maybe enjoyed in any number of form factors-spherical or otherwise,including but not limited to cylindrical.

FIG. 5C illustrates an ultrasound system 530 for providing tactilemid-air haptic feedback that is at least that is at least partiallyconical. The embodiment of FIG. 5C includes two curved panel systems 540and 550 (like that of FIG. 2A) and arranged in an hour-glass formfactor. Such a form-factor allows a user to feel tactile sensations fromboth palms in a face-up (560) as well as a face-down (570) placement.

The ultrasound system 530 as illustrated in FIG. 5C includes two handtracking devices 580 and 590 integrated into the ultrasound system 530.While illustrated with two such devices, as noted elsewhere in thisdisclosure, embodiments may include but a single hand tracking device ora series of the same. An alternative embodiment may involve placement ofthe tracking devices proximate the system 530. For example, trackingdevices 580 and 590 may be located on a table or workstation that hoststhe ultrasound system 530. Tracking devices 580 and 590 couldalternatively be located in a wall installation proximate the system 530or located above the system 530 in a ceiling installation. Additionaltracking devices, as noted earlier, may also be implemented beyond thetwo illustrated in FIG. 5B. Other system hardware may be locatedinternal or external the system 500 as was discussed in the context ofthe embodiments of FIGS. 4A and 4B.

FIG. 6A illustrates a movable ultrasound apparatus 600 for providingtactile mid-air haptic feedback including a flat panel ultrasound systemcoupled to a gimbal array. Flat-panel ultrasound system 610 is like thatdescribed with respect to FIG. 1 (ultrasound system to). Apparatus 600of FIG. 6A further includes a motorized gimbal system 620 and base 630that allows for multi-axis movement. Such multi-axis movement allows fora wider range of interaction while maintain ultrasonic panels moreparallel to the hands of a user notwithstanding the natural angulationand movement of the hands of a user.

In an exemplary embodiment of gimbal system 620, a set of three gimbalsare presented—one mounted on the other with orthogonal pivot axes. Sucha design allows system 610 to enjoy roll, pitch, and yaw control. Thebase 630 and mechanical componentry embodied therein controls the gimbalsystem 620 such that a user might enjoy six-degrees of freedom andvector control over the corresponding ultrasound panel 610 and thetransducers therein. Gimbal system 620 may be integrated into animmersive computing system to further facilitate a virtual or augmentedreality experience.

In some embodiments, the gimbal system 620 may allow for inertialdampening if the ultrasound apparatus 600 is being utilized in aphysically unstable environment. For example, ultrasound apparatus 600may be a part of a larger virtual or augmented reality environment. Suchan environment may utilize rumbles or vibrations independent ofengagement with a haptic interface (e.g., to simulate an earthquake orexplosion). Inertial dampening through use of a gimbal system wouldallow for such effects to be provided without interfering with thehaptic experience offered by system 600.

An apparatus like that of FIG. 6A also allows for increased engagementwith a more limited surface area or array of transducers. Like the otherform factors discussed throughout, such a system also allows for a widerrealm of engagement, more points of interaction and sensation, andincreased user comfort. An ultrasonic system like that of FIG. 6A, inparticular, may allow for a determination of an optimal angle forproviding an increased or optimized ultrasonic sensation or series ofsensations. By integrating such functionality into a moveable array, asthe user or an appendage of the user moves, the array may also move suchthat the sensation remains constant through the engagementnotwithstanding a change of position of the appendage inthree-dimensional space.

Through the use of gimbal system 620, the apparatus 600 allows forincreased tactile interaction with the hands of a user by movingrelative a user or a virtual object or a combination of the two. A handtracking device like that of FIG. 1A (not shown) captures the handposition of a user and, in addition to providing driver instructionsbyway of a processing system, also influences control of the gimbalhardware such that it adjusts the angle of the ultrasound panel toremain perpendicular to the hands of the user.

FIG. 6B illustrates a movable ultrasound apparatus 640 for providingtactile mid-air haptic feedback, which may include moveable sub-arraysas well as individually moveable transducers 650 _(A) . . . 650 _(N)coupled to a gimbal system and otherwise making up a flat panelultrasound array. In an embodiment using individually moveabletransducer arrays or sub-arrays as addressed herein, varioussynchronization techniques may be used including but not limited tothose discussed earlier in the context of a multi-array ultrasoundsystem. The ultrasound array 650 of FIG. 6B is otherwise collectivelycomparable to the flat-panel array of FIG. 1A, but includes a series ofindividually moveable transducers 650 _(A) . . . 650 _(N) versus saidtransducers being fixed in the context of FIG. 1A. Each of theindividually moveable transducers 650 _(A) . . . 650 _(N) is coupled toa gimbal system and base. This coupling allows for multi-axis movementby an individually paired gimbal and base operating in conjunction witheach transducer 650.

Alternatively, a series of transducers may make up an individual panelof transducers (a sub-array) with a particular ultrasound array having aseries of transducer panels. Instead of the array or individualtransducers having a gimbal mechanism, the aforementioned panels oftransducers may have a gimbal and base pairing. In both of theseembodiments, specifically directed tactile feedback is possible suchthat tactile sensations are directed at various portions of the userbody or specific areas thereof. Multiple tracking systems may beimplemented in such an embodiment, including per panel or pertransducer.

FIG. 7 illustrates a form factor 700 whereby a flat panel ultrasoundsystem for providing tactile mid-air haptic feedback is integrated intoa chair. The embodiment of FIG. 7 involves a flat panel two-dimensionalultrasound system 100 like that disclosed in the context of FIG. 1A.Specifically, the chair embodiment 700 of FIG. 7 involves two suchtwo-dimensional ultrasound panels-one installed in each arm of thechair-elements 710 and 720, respectively. An embodiment utilizing such aform factor allows for interactions and tactile sensation from a seatedposition. The positioning of ultrasound panels 710 and 720 at the endsof the arm rests allow the arms of a user to be at rest while the handsof the user are still engaged with content generated by an immersivecomputing system. Synchronization techniques like those described abovemay be implemented to the extent such a synchronized experience isrequired in light of a part use claim or content engagement.

FIG. 8 illustrates a form factor 800 whereby a flat panel ultrasoundsystem for providing tactile mid-air haptic feedback is integrated intoa table. The embodiment of FIG. 8 involves a flat panel two-dimensionalultrasound system 100 like that disclosed in the context of FIG. 1A.Specifically, the table embodiment 800 of FIG. 8 involves a single panel810 although a multitude of panels may be integrated directly into table820 and allowing for interaction with content generated by an immersivecomputing system. For example, different panels may be associated withdifferent generated objects or environments. An embodiment such as thisallows for interaction and tactile sensation coupled with theproductivity and working space of a desktop environment.

FIG. 9 illustrates a flexible ultrasound system 900 for providingtactile mid-air haptic feedback. The ultrasound system 900 of FIG. 9uses a segmented approach of the two-dimensional flat panel ultrasoundsystem 100 as described in the context of FIG. 1A. The panels ofultrasound system 900 include of rows of transducers 910 with flexiblematerial 920 interspersed there between. Integration of this material920 between the rows of transducers 910 allows the system 900 to berolled up as suggested by element 930. The end of the flexible system900 includes a magnetic or some other adhesive strip 940 that maintainsthe system 900 in a closed position when in a rolled configuration.

The drivers (not shown) for each of the various transducers 910 may bemanufactured from flexible electronics or flex circuits. The requisitedriver circuitry may be mounted on a flexible plastic substrate such aspolymide or transparent conductive polyester. Flex circuits may likewisebe screen printed. Other means of producing a flexible driver componentinclude the use of flexible silicon.

For example, instead of the transducers being interconnected by way offlexible material, some embodiments of the present invention may findthe transducers directly integrated into a particular flexible materialsuch as those that might be found in a flexible printed circuit board.Such a design may enjoy the benefits of lower manufacturing cost,reduced procurement times, and increased performance by ‘tuning’ theacoustic properties of a flexible matrix material thereby allowing foroptimized ultrasonic operation.

It is also possible to create a flexible ultrasound sheet throughmicro-machining a piezoelectric ultrasound transducer in a polyimidesubstrate. The transducer is made on the substrate and package withpolydimethylsilozane. Instead of etching the PZT ceramic, diced PZTblocks are placed into holes on the polyimide, which is pre-etched.

Various hardware elements may be further integrated or ‘plugged into’the flexible ultrasound system 900 of FIG. 9 including but not limitedhand tracking devices, processing systems, and the aforementionedtransducer drivers. Those connections may be wired or wireless indesign. The ultrasound system 900 itself may then be integrated into animmersive computing system.

The foregoing description has been presented for purposes ofillustration. Said description is not intended to be exhaustive nor isit to limit the invention to the precise forms disclosed. Modificationsare possible and inherent in light of the above teachings. The describedembodiments were chosen in order to explain the principles of theinvention, its practical application, and to allow others possessingordinary skill in the art to implement those modifications andvariations inherent thereto. It is intended that the ultimate scope ofany particular embodiment be defined and/or limited exclusively by theclaims that follow.

What is claimed is:
 1. A system for providing ultrasonic stimulation inan immersive environment, the system comprising: a processing systemconfigured to compute an interaction of a user with a set of virtualobjects in a three-dimensional space corresponding to the immersiveenvironment; a tracking device in communication with the processingsystem, wherein the tracking device is configured to track a hand of theuser in the three-dimensional space and provide tracking information tothe processing system; an ultrasonic stimulation device comprising anarray of ultrasonic emitters configured to produce ultrasonic energycapable of perception by the user based on the interaction of the userwith the set of virtual objects computed by the processing system; and amotorized gimbal assembly mounted to the ultrasonic stimulation deviceand in communication with the processing system, wherein the motorizedgimbal assembly enables multi-axis movement of the array of ultrasonicemitters.
 2. The system of claim 1, wherein the processing systemoperates the motorized gimbal assembly to maintain a predeterminedorientation of the array of ultrasonic emitters relative to the hand ofthe user based on the tracking information.
 3. The system of claim 2,wherein the predetermined orientation is a parallel orientation of abroad surface of the array of emitters relative to a palm of the hand.4. The system of claim 1, wherein the ultrasonic energy is producedthrough beamforming and constructive interference.
 5. The system ofclaim 1, further comprising a driver system in communication with theprocessing system and the array of ultrasonic transmitters, wherein thedriver system comprises a memory configured to store instructionsassociated with producing the ultrasonic energy.
 6. The system of claim5, wherein the memory further comprises a set of algorithms, wherein theset of algorithms comprises a beamforming algorithm.
 7. The system ofclaim 5, wherein the ultrasonic energy comprises one or more localizedfocal points of ultrasonic energy, wherein the instructions areconfigured to trigger the broadcasting of a set of control signals whichcause the array of ultrasonic emitters to create ultrasound beams whichproduce the one or more localized focal points of ultrasonic energy. 8.The system of claim 1, wherein the ultrasonic energy comprises one ormore localized focal points of ultrasonic energy, wherein the one ormore localized focal points of ultrasonic energy are configured tocreate a mid-air tactile sensation at the hand of the user.
 9. Thesystem of claim 8, wherein each localized focal point of the one or morelocalized focal points is produced based on activation of at least twoof the plurality of ultrasonic emitters.
 10. The system of claim 1,wherein the immersive environment comprises at least one of: a virtualreality environment, a simulated imagery environment, a mixed realityenvironment, an extended reality environment, an augmented realityenvironment, and a holographic projection.
 11. The system of claim 1,wherein the array of ultrasonic emitters is arranged in a flat-paneltwo-dimensional array.
 12. A method for providing ultrasonic stimulationto a user in an immersive environment, the method comprising: with atracking device, tracking a hand of the user; with a processing systemin communication with the tracking device: receiving trackinginformation associated with tracking the hand of the user from thetracking device; based on the tracking information, computing aninteraction of the user with a set of virtual objects in athree-dimensional space corresponding to the immersive environment; withan ultrasonic stimulation device comprising an array of ultrasonicemitters, producing ultrasonic energy capable of perception by the userbased on the interaction of the user with the set of virtual objectscomputed by the processing system; and with a motorized gimbal assemblymounted to the ultrasonic stimulation device, providing multi-axismovement of the array of ultrasonic emitters.
 13. The method of claim12, further comprising operating the motorized gimbal assembly tomaintain a predetermined orientation of the array of ultrasonic emittersrelative to the hand of the user based on the tracking information. 14.The method of claim 13, wherein the predetermined orientation is aparallel orientation of a broad surface of the array of emittersrelative to a palm of the hand.
 15. The method of claim 12, wherein theultrasonic energy is produced through beamforming and constructiveinterference.
 16. The method of claim 12, wherein the ultrasonic energyis produced with a set of instructions stored at a memory of a driversystem in communication with the processing system and the array ofultrasonic emitters.
 17. The method of claim 16, wherein the set ofinstructions is determined with a set of beamforming algorithms.
 18. Themethod of claim 12, wherein the ultrasonic energy comprises one or morelocalized focal points of ultrasonic energy, wherein the one or morelocalized focal points of ultrasonic energy are configured to create amid-air tactile sensation at the hand of the user.
 19. The method ofclaim 18, wherein each localized focal point of the one or morelocalized focal points is produced based on activation of at least twoof the plurality of ultrasonic emitters.
 20. The method of claim 12,wherein the immersive environment comprises at least one of: a virtualreality environment, a simulated imagery environment, a mixed realityenvironment, an extended reality environment, an augmented realityenvironment, and a holographic projection.